// movement model params
x0=0;x1=2;x2=10;
a=5;b=2;
function [y]=movementModel(t)
    y(1)=x0+x1*t+(x2*(t^2))/2+a*sin(b*t);
    y(2)=x1+x2*t+a*b*cos(b*t);
    y(3)=x2-a*(b^2)*sin(b*t)
endfunction
// error measurement params
mn=0;dev=2;
function [r]=measurement(t)
    m=movementModel(t);
    r=m(1)+grand(1,1,'nor',mn,dev);
endfunction